Decentralized model following adaptive sliding mode controllers for uncertain large scale systems with time-varying delay interconnections

The problem of decentralized robust model following is considered for a class of uncertain large scale systems with time-varying delay interconnections. It is assumed that the upper bounds of uncertainties and interconnections are unknown. For such unknown bounds, a modified adaptation law is proposed. By combining a sliding mode controller with the adaptation law, we construct a decentralized adaptive sliding mode controller. The proposed controller can guarantee that the tracking errors decrease asymptotically to zero. Finally, a numerical example is given to demonstrate the validity of the results.